相关论文: Accelerating Robot Path Planning via Connectivity-…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

Predicting traffic conditions has been recently explored as a way to relieve traffic congestion. Several pioneering approaches have been proposed based on traffic observations of the target location as well as its adjacent regions, but they…

Getting precise aspects of road through segmentation from remote sensing imagery is useful for many real-world applications such as autonomous vehicles, urban development and planning, and achieving sustainable development goals. Roads are…

This paper tackles the task of estimating the topology of road networks from aerial images. Building on top of a global model that performs a dense semantical classification of the pixels of the image, we design a Convolutional Neural…

Depth prediction is one of the fundamental problems in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for various depth estimation tasks.…

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…

A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

Self-supervised pre-training, based on the pretext task of instance discrimination, has fueled the recent advance in label-efficient object detection. However, existing studies focus on pre-training only a feature extractor network to learn…

Deep convolutional networks have attracted great attention in image restoration and enhancement. Generally, restoration quality has been improved by building more and more convolutional block. However, these methods mostly learn a specific…

Autonomous path planning algorithms are significant to planetary exploration rovers, since relying on commands from Earth will heavily reduce their efficiency of executing exploration missions. This paper proposes a novel learning-based…

Deep learning methods have been exerting their strengths in long-term time series forecasting. However, they often struggle to strike a balance between expressive power and computational efficiency. Resorting to multi-layer perceptrons…

Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…

Unmanned Aerial Vehicles (UAVs) are increasingly essential in various fields such as surveillance, reconnaissance, and telecommunications. This study aims to develop a learning algorithm for the path planning of UAV wireless communication…

Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…

Very deep Convolutional Neural Networks (CNNs) have greatly improved the performance on various image restoration tasks. However, this comes at a price of increasing computational burden, hence limiting their practical usages. We observe…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

Path planning in high-dimensional spaces poses significant challenges, particularly in achieving both time efficiency and a fair success rate. To address these issues, we introduce a novel path-planning algorithm, Zonal RL-RRT, that…

The rapid growth of resource-constrained mobile platforms, including mobile robots, wearable systems, and Internet-of-Things devices, has increased the demand for computationally efficient neural network controllers (NNCs) that can operate…